The Development of Autonomously Controlled Vehicle, PVS

This paper describes an autonomously controlled vehicles which is equipped with two sensing modes, one employing cameras and the other ultrasonic detectors. In either mode the vehicle can move smoothly, along a white line on the road(camera mode) or along a guard rail(ultrasonic mode), avoiding obstacles on straightaways and turning corners at intersections. In the camera mode, the vehicle can travel at 60km/h along a straight road.